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Stair climbing for humanoid robots using stereo vision

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3 Author(s)
Gutmann, J.-S. ; Intelligent Syst. Res. Laboratory, Sony Corp., Tokyo, Japan ; Fukuchi, M. ; Fujita, M.

For the fully autonomous navigation in a 3 dimensional world, a humanoid robot must be capable of stepping up and down staircases and other obstacle where a sufficient large flat surface can support the robot's feet. This paper presents methods for the recognition of stairs and a control architecture that enable the humanoid robot QRIO to safely climb up and down in its environment The approach is based on data captured by a stereo vision system and segmented into planar surfaces. From the segmented planes, stairs that can be climbed by the robot are extracted and fed to a control system which decides the action to be taken next. Experimental results on a staircase as well as climbing up and down a sill are presented.

Published in:

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference:

28 Sept.-2 Oct. 2004